Robotic Surgical System Pillar Support Architecture

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Solution Overview

Problem

Existing robotic surgery systems face challenges in providing a stable and rigid support for both the patient and the robotic surgical manipulators without obstructing the workspace of surgical assistants, while maintaining a stiff mechanical path to minimize movement relative to the patient.

Innovation Solution

A robotic surgery system that includes a base with a vertically extending pillar, an attachment structure, a patient table, and a robot support arm that extends over the patient table to support a robotic surgical manipulator, providing a stiff and adjustable support system that minimizes movement and allows for flexible positioning of the surgical site.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Adaptability or versatility

If a robotic surgical manipulator is supported by a separate cart or mobile platform, then the system becomes more flexible and easier to position, but the mechanical path becomes less stiff and movement relative to the patient increases

Engineering Contradiction:

Improveflexibility of positioningVSAvoidstiffness of mechanical path

Core Design Contradiction:

Adaptability or versatilityVSStability of the object's composition

Solution Approach 1:

The patent merges the patient table and robotic manipulator support into a single integrated platform. The robotic manipulator is mounted directly on the patient table structure, creating a unified mechanical base that simultaneously supports both the patient and the robotic system, thereby maintaining mechanical stiffness while enabling flexible positioning of the entire assembly.

Inventive Principle:

Principle #5Merging (Combining)

Solution Approach 2:

The patient table is designed to serve multiple functions: it supports the patient during surgery and simultaneously serves as the mechanical base for mounting and positioning the robotic surgical manipulator. This multi-functional design eliminates the need for separate support structures, maintaining stiffness while providing positioning flexibility.

Inventive Principle:

Principle #6Universality (Multi-functionality)

2Area of stationary object

If the robot support structure extends over the patient table, then the workspace of surgical assistants is less obstructed, but the structural stability and stiffness may be compromised

Engineering Contradiction:

Improveworkspace availabilityVSAvoidstructural stability

Core Design Contradiction:

Area of stationary objectVSStrength

Solution Approach 1:

The robotic support structure is segmented into multiple components: a vertical pillar mounted on the patient table, horizontal support arms extending from the pillar, and end effectors at the distal ends. This segmentation allows the structure to extend over the patient table workspace while maintaining structural integrity through distributed load paths and rigid joint connections.

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

The robotic manipulator support extends in the vertical dimension (upward from the patient table) and horizontal dimension (over the patient), creating a three-dimensional support architecture. This dimensional approach allows the structure to clear the surgical workspace below while maintaining stability through its elevated support path.

Inventive Principle:

Principle #17Another dimension (Dimensionality change)

3Manufacturing precision

If a rigid support structure is used for the robotic manipulator, then movement relative to the patient is minimized, but the complexity of the support system increases

Engineering Contradiction:

Improveprecision of surgical manipulationVSAvoidcomplexity of support system

Core Design Contradiction:

Manufacturing precisionVSDevice complexity

Solution Approach 1:

The patient table and robotic support structure are merged into a single integrated unit, eliminating the need for separate complex support systems. The patient table itself becomes the mechanical base for the robotic manipulator, reducing the number of components and interfaces while maintaining the rigidity needed for precise surgical manipulation.

Inventive Principle:

Principle #5Merging (Combining)

Data Source

PatentUS11660151B2Robotic surgical system with patient support

Publication Date: 2023.05.30 INTUITIVE SURGICAL OPERATIONS INC

AI summary

A robotic surgery system for supporting a patient and a robotic surgical manipulator. The robotic surgery system includes a base, a pillar coupled to the base at a first end and extending vertically upwardly to an opposing second end, and an attachment structure coupled to the second end of the pillar. A patient table is coupled to the attachment structure. A robot support arm has a first end coupled to the attachment structure. The robot support arm extends vertically upwardly from the first end to a second end. The robot support arm may further extend horizontally over the patient table to support a robotic surgical manipulator that will extend generally downward from the robot support arm toward a patient supported by the patient table to place an end effector of the robotic surgical manipulator adjacent a desired surgical site on the patient.